Ejemplo n.º 1
0
    /* deleteNodeOfId deletes the node from the list that is holding a polygon with a certain id
     * Parameter: (int) idToDelete is the id of the polygon being held by the node to be deleted
     * Return: none
     */
    public void deleteNodeOfId(int idToDelete)
    {
        AIFringeSearchNode tempFront = frontOfList;

        if (frontOfList != null)
        {
            if (doesIDMatch(frontOfList.getPolygon().getID(), idToDelete) == true)
            {
                frontOfList = frontOfList.getNextNode();
                numberOfNodesHeld--;
                return;
            }
            AIFringeSearchNode tempback = tempFront.getNextNode();
            while ((tempback.getNextNode() != null) && (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == false))
            {
                tempFront = tempback;
                tempback  = tempFront.getNextNode();
            }
            if (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == true)
            {
                tempFront.setNextNode(tempback.getNextNode());
            }
            numberOfNodesHeld--;
        }
    }
Ejemplo n.º 2
0
    /* getNodeOnList returns node from list that contains a specified polygon
     * Parameter:	(AIPolygon) polygonToCheck is the polygon being held by the node to be returned
     * Return:	(AIFringeSearchNode)
     *				node on list that is holding polygonToCheck
     */
    public AIFringeSearchNode getNodeOnList(AIPolygon polygonToCheck)
    {
        AIFringeSearchNode tempFront = frontOfList;

        if (tempFront == null)
        {
            return(null);
        }
        if (doesIDMatch(polygonToCheck.getID(), tempFront.getPolygon().getID()) == true)
        {
            return(tempFront);
        }
        AIFringeSearchNode tempBack = tempFront.getNextNode();

        while ((tempBack != null) && (tempBack.getNextNode() != null) && (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == false))
        {
            tempFront = tempBack;
            tempBack  = tempFront.getNextNode();
        }
        if (tempBack == null)
        {
            return(null);
        }
        if (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == true)
        {
            return(tempBack);
        }
        return(null);
    }
Ejemplo n.º 3
0
    /*
     * fringeSearch method will preform the fringe search
     * Parameter:	none
     * Return:	none
     */
    void fringeSearch()
    {
        AIFringeSearchNode tempNode = fringeList.getNodeOnList(startingPolygon); // the first polygon in the list

        fLimit = tempNode.getHCost();                                            //the first limit
        AIFringeSearchList curList  = fringeList;                                //the current list that will be looked at
        AIFringeSearchList nextList = new AIFringeSearchList(goalPosition);      //the list that the not good polygons will be put into

        while (goalFound == false && (curList.isEmpty() == false || nextList.isEmpty() == false))
        {
            fMin     = float.MaxValue;         //reset the fMin
            firstMin = false;                  //reset the firstMin
            while (curList.isEmpty() == false) //goes until the current list is empty
            {
                tempNode = curList.popNode();
                nodesVisited++;
                if (tempNode.getTotalCost() > fLimit)                    // the node is no good and the limit must be incresed
                {
                    fMin = getMin(tempNode.getTotalCost(), fMin);
                    nextList.pushAtTheEnd(tempNode);                     //adds the node at the end of the nextList
                    continue;
                }
                if (tempNode.getPolygon().getHasGoal() == true)                //goal node was found
                {
                    finalSolutionStart = tempNode;
                    return;
                }
                for (int count = tempNode.getPolygon().getNeighborsHeld() - 1; count >= 0; count--)
                {
                    AIFringeSearchNode childNode = new AIFringeSearchNode(polygonArray[tempNode.getPolygon().getNeighborAt(count)], tempNode, (tempNode.getGFromStartNode() + (tempNode.getPolygon().getCenterVector() - polygonArray[tempNode.getPolygon().getNeighborAt(count)].getCenterVector()).magnitude), goalPosition);
                    if (tempNode.getParentNode() == null || tempNode.getParentNode().getPolygon().getID() != childNode.getPolygon().getID()) //checks to see if the parentNode is the child node trying to be added in
                    {
                        if (cache[tempNode.getPolygon().getNeighborAt(count)] != null)                                                       //checks to see if the polygon has already been seen
                        {
                            if (childNode.getGFromStartNode() >= cache[tempNode.getPolygon().getNeighborAt(count)].getGFromStartNode())
                            {
                                continue;
                            }
                        }
                        if (curList.isNodeOnList(childNode.getPolygon()) == true)                                          //checks to see if the polygon is already on the list
                        {
                            curList.deleteNodeOfId(childNode.getPolygon().getID());                                        //deletes the node
                        }
                        curList.enqueue(childNode.getPolygon(), childNode.getParentNode(), childNode.getGFromStartNode()); //adds the node at the front of the current list
                        cache[tempNode.getPolygon().getNeighborAt(count)] = childNode;
                    }
                }
                if (curList.getSize() > maxQueueSize)
                {
                    maxQueueSize = curList.getSize();
                }
            }
            fLimit = fMin;             //sets the new Min

            AIFringeSearchList tempList = curList;
            curList  = nextList;
            nextList = tempList;
        }
    }
Ejemplo n.º 4
0
 //used for debugging
 void printFinalSolutionRecursively(AIFringeSearchNode currentNode)
 {
     if (currentNode != null)
     {
         printFinalSolutionRecursively(currentNode.getParentNode());
         polygonFinalCount++;
     }
 }
Ejemplo n.º 5
0
    /*
     * addAfter will make a new polygon and add it right after the node being passed in
     * Parameter:	(AIPolygon)polygonToAdd is the polygon for the new node
     *              (AIFringeSearchNode)parentNode is the node that will be the parent of this node
     *              (float)gCostToAdd is the cost to get to this node
     * Return:	none
     */
    public void addAfter(AIPolygon polygonToAdd, AIFringeSearchNode nodeToAddAfter, float gCostToAdd)
    {
        AIFringeSearchNode tempNode = new AIFringeSearchNode(polygonToAdd, nodeToAddAfter, gCostToAdd, goalPosition);

        tempNode.setNextNode(nodeToAddAfter.getNextNode());
        nodeToAddAfter.setNextNode(tempNode);
        numberOfNodesHeld++;
    }
Ejemplo n.º 6
0
    /*
     * enqueue method will place a node in the front of the list
     * Parameter:	(AIPolygon)polygonToAdd is the polygon for the new node
     *              (AIFringeSearchNode)parentNode is the node that will be the parent of this node
     *              (float)gCostToAdd is the cost to get to this node
     * Return:	none
     */
    public void enqueue(AIPolygon polygonToAdd, AIFringeSearchNode parentNode, float gCostToAdd)
    {
        AIFringeSearchNode tempNode = new AIFringeSearchNode(polygonToAdd, parentNode, gCostToAdd, goalPosition);

        tempNode.setNextNode(frontOfList);
        frontOfList = tempNode;
        numberOfNodesHeld++;
    }
Ejemplo n.º 7
0
    /*
     * popNode will remove a node from the front of the the list
     * Parameter:	none
     * Return:	(AIFringeSearchNode)
     *              the node that was removed from the front of the list
     */
    public AIFringeSearchNode popNode()
    {
        AIFringeSearchNode temp = frontOfList;

        frontOfList = temp.getNextNode();
        numberOfNodesHeld--;
        return(temp);
    }
Ejemplo n.º 8
0
 /* The method AIFringeSearchNode is a contructor for the class
  * Parameter: AIPolygon polygonToAdd
  * AIFringeSearchNode parentToAdd
  * float gCostToAdd
  * Vector3 goalPositionToAdd
  */
 public AIFringeSearchNode(AIPolygon polygonToAdd, AIFringeSearchNode parentToAdd, float gCostToAdd, Vector3 goalPositionToAdd)
 {
     polygonBeingHeld  = polygonToAdd;
     parentNode        = parentToAdd;
     gFromStartingNode = gCostToAdd;
     nextNode          = null;
     childrenPlaced    = false;
     goalPosition      = new Vector3(goalPositionToAdd.x, goalPositionToAdd.y, goalPositionToAdd.z);
     calculateCost(gFromStartingNode, goalPosition);
 }
Ejemplo n.º 9
0
 /*
  * addFinalsolutionPolygons method is a recusive method that will look at the parent of each node passed in until
  *      the node passed in is null, then it will add each Node's polygon to the finalSolutionArray in order
  *      from start until end
  * Parameter:	(AIFringeSearchNode)currentNode is the node that needs to be checked and then have its parent passed
  *              (ref int)counter is the current count of polygons in the FinalSolution array used to access the next index
  * Return:	none
  */
 void addFinalSolutionPolygons(AIFringeSearchNode currentNode, ref int counter)
 {
     if (currentNode != null)
     {
         addFinalSolutionPolygons(currentNode.getParentNode(), ref counter);
         finalSolutionArray [counter] = currentNode.getPolygon();
         if (counter != 0)
         {
             finalPathCost += (finalSolutionArray[counter].getCenterVector() - finalSolutionArray[counter - 1].getCenterVector()).magnitude;
         }
         counter++;
     }
 }
Ejemplo n.º 10
0
    /*
     * getNodeAtIndex method will get a node at a certian index in the list
     * Parameter:	(int)index is the index in the list that the caller wants the node of
     * Return:		(AIFringeSearchNode)
     *                  the node that was at the index being passed int
     */
    public AIFringeSearchNode getNodeAtIndex(int index)
    {
        if (index == 0)
        {
            return(frontOfList);
        }
        AIFringeSearchNode temp = frontOfList;

        for (int count = 0; count < index; count++)
        {
            temp = temp.getNextNode();
        }
        return(temp);
    }
Ejemplo n.º 11
0
    /*
     * pushAtTheEnd method will take a node and push it at the back of the lsit
     * parameter:	(AIFringeSearchNode)nodeToPush is the node the caller wants at the back of the list
     * Return:	none
     */
    public void pushAtTheEnd(AIFringeSearchNode nodeToPush)
    {
        if (frontOfList == null)
        {
            nodeToPush.setNextNode(frontOfList);
            frontOfList = nodeToPush;
            numberOfNodesHeld++;
            return;
        }
        AIFringeSearchNode tempNode = getNodeAtIndex(getSize() - 1);

        nodeToPush.setNextNode(tempNode.getNextNode());
        tempNode.setNextNode(nodeToPush);
        numberOfNodesHeld++;
    }
Ejemplo n.º 12
0
 /* The method setParentNode sets the parent node of the curretn node
  * Parameter: AIFringeSearchNode newParentNode - node to be set as parent	 *
  */
 public void setParentNode(AIFringeSearchNode newParentNode)
 {
     parentNode = newParentNode;
 }
Ejemplo n.º 13
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 /* The method setNextNode sets the next node of the current node
  * AIFringeSearchNode newNextNode - node to be set as next
  */
 public void setNextNode(AIFringeSearchNode newNextNode)
 {
     nextNode = newNextNode;
 }
Ejemplo n.º 14
0
 /*
  * AIFringeSearchList's constructor will set up the initial values for the instance variables
  * Parameter:	(Vector3)goalPositionToAdd is the position of the goal
  */
 public AIFringeSearchList(Vector3 goalPositionToAdd)
 {
     frontOfList       = null;
     numberOfNodesHeld = 0;
     goalPosition      = goalPositionToAdd;
 }